Cancel Autonomous Behaviors when Joints are Moved (#66)

* stop any action being executed when joints are moved * don't stop the trajectory client for incremental move to prevent jerky movements * fixes from pre-commit --------- Co-authored-by: hello-amal <[email protected]>
hello-robot · Jul 18, 2024 · df47962 · df47962
1 parent 18b18a4
commit df47962
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/src/pages/robot/tsx/robot.tsx b/src/pages/robot/tsx/robot.tsx
@@ -864,12 +864,14 @@ export class Robot extends React.Component {
 
   executePoseGoal(pose: RobotPose) {
     this.switchToPositionMode();
+    this.stopExecution();
     this.poseGoal = this.makePoseGoal(pose);
     this.trajectoryClient.createClient(this.poseGoal);
   }
 
   async executePoseGoals(poses: RobotPose[], index: number) {
     this.switchToPositionMode();
+    this.stopExecution();
     this.poseGoal = this.makePoseGoals(poses);
     this.trajectoryClient.createClient(this.poseGoal);
   }
@@ -885,6 +887,7 @@ export class Robot extends React.Component {
 
   executeIncrementalMove(jointName: ValidJoints, increment: number) {
     this.switchToPositionMode();
+    this.stopAutonomousClients();
     this.poseGoal = this.makeIncrementalMoveGoal(jointName, increment);
     this.trajectoryClient.createClient(this.poseGoal);
   }
@@ -895,6 +898,11 @@ export class Robot extends React.Component {
     this.stopMoveToPregraspClient();
   }
 
+  stopAutonomousClients() {
+    this.stopMoveBaseClient();
+    this.stopMoveToPregraspClient();
+  }
+
   stopTrajectoryClient() {
     if (!this.trajectoryClient) throw "trajectoryClient is undefined";
     if (this.poseGoal) {